Conference on Advances in Communication and Control Systems 2013 (CAC2S 2013)

Controlling of D.C. Motor using Fuzzy Logic Controller

Husain Ahmed1
Assistant Professor, Department of Electrical Engineering
Dehradun Institute of Technology, Dehradun (Uttarakhand)
husain_ahmed@rediffmail.com
Dr. Gagan Singh2
Professor & Head, Department of Electrical Engineering
Dehradun Institute of Technology, Dehradun (Uttarakhand)
gaganus@gmail.com
Vikash Bhardwaj3 , Saket Saurav4, Shubham Agarwal5
Department of Electrical Engineering
Dehradun Institute of Technology, Dehradun (Uttarakhand)
vikas.dsb@gmail.com

Abstract: Most of the industrial controllers in use today utilize PID controllers. In this paper four methods for tuning of a PID
controller are compared. A mathematical model of the most commonly used dynamic system i.e., a d.c. motor is derived and a
PID controller is used in conjunction to it. Ziegler-Nichols rule based on the value of Kp is used to tune the PID controller and the
response is studied. Further, fuzzy controller is used with PID i.e. Fuzzy PID Controller. The results obtained are compared and
a conclusion is drawn that Fuzzy controlled PID responds better in case of change in load and other system disturbances.
It is needed to get the system into the oscillation mode to
realize the tuning procedure. The proposed approach uses both
fuzzy controllers and response optimization method to obtain
the approximate values of the controller parameters. Then the
parameters may be slightly varied to obtain the user-defined
performance of the real-time control system. Then the
parameters may be slightly varied to obtain the user-defined
performance of the real-time control system. Thus, its an
actual problem to design adaptive PID controllers without
getting the system into the oscillation mode. Here the
mathematical model of a dc motor is used to obtain a transfer
function between shaft position and applied armature voltage.
This model is then built in MATLAB Simulink. Then design
and tuning of proportional-integral-derivative (PID) controllers
are reviewed in Simulink with the proposed design procedure.

1.Introduction:
Because of their high reliabilities, flexibilities and low costs,
DC motors are widely used in industrial applications, robot
manipulators and home appliances where speed and position
control of motor are required. PID controllers are commonly
used for motor control applications because of their simple
structures and intuitionally comprehensible control algorithms.
Controller parameters are generally tuned using hand-tuning or
Ziegler-Nichols frequency response method. Both of these
methods have successful results but long time and effort are
required to obtain a satisfactory system response. Two main
problems encountered in motor control are the time-varying
nature of motor parameters under operating conditions and
existence of noise in system loop.
Analysis and control of complex, nonlinear and/or time-varying
systems is a challenging task using conventional methods
because of uncertainties. Fuzzy set theory (Zadeh , 1965) which
led to a new control method called Fuzzy Control[1] which is
able to cope with system uncertainties. DC motor control is
generally realized by adjusting the terminal voltage applied to
the armature but other methods such as adjusting the field
resistance, inserting a resistor in series with the armature circuit
are also available.

2. DC motor model
In armature control of separately excited DC motors, the
voltage applied to the armature of the motor is adjusted
without changing the voltage applied to the field. Figure shows
a separately excited DC motor equivalent model.

Ziegler-Nichols [2] frequency response method is usually used

to adjust the parameters of the PID controllers. However,

2013. The authors - Published by Atlantis Press

( )

666

( )

( )

( ) ( )

( )

( ) .(2)

( )

( )

( )

( )

( )

Below figure shows the DC motor model built in Simulink.

Motor model was converted to a 2-in 2-out subsystem. Input
ports are armature voltage ( ) and load torque (Tload) and the
output ports are angular speed in (w) and position ( ).

( )

A 3.70 kW, 240V, 1750 rpm DC motor with the below

parameters was used:

( )

Where:
( )
( )
( )
( )

m2

( )
(
(

)
)
(

)
(

3. Proportional-integral-derivative (PID) Controller:

PID controllers are widely used in industrial control
applications due to their simple structures, comprehensible
control algorithms and low costs. Below figure shows the
schematic model of a control system with a PID controller.

Let us combine the upper equations together:

( )

( )

( )
( )

( )

( ) ( )
( )

Control signal ( ) is a linear combination of error ( ), its

integral and derivative.

( )

Taking Laplace Transform of (5) & (6)..

( )

( )
( )

( )

( )

( )

( )

( )
( )

If current is obtained from (8) and substituted in (7) we have

( )

( )

( )

)]

( )

Then the relation between rotor shaft speed and applied

armature voltage is represented by transfer function:
( )
( )

)]

where ;

The relation between position and speed is:

( )

( )

Then the transfers function between shaft position and armature

voltage at no-load is:
( )
( )

) ]

667

( )

( )

( )

( )

( ( )

( )

( )
( )

Kp= 2.9, KI= 0, Kd= 0

The sustained oscillation obtained is shown below:

If the controller is digital, then the derivative term may be

replaced with a backward difference and the integral term may
be replaced with a sum. For a small constant sampling time( )
, (14) can be approximated as:
( )

( ( )

( )

()

4. Tuning PID parameters : [2]

PID controllers are usually tuned using Hand Tuning or Ziegler
Nicholas methods and soft tuning. Hand tuning or Ziegler
The disadvantage of this method is that it should take a long
time to find the optimal values. Another method to tune PID
parameters is Ziegler-Nichols frequency response method. The
procedure is as follows:
1. Increase
until system response oscillates with a constant
amplitude and record that gain value as
(ultimate gain).
2. Calculate the oscillation period and record it as .
3. Tune parameters using the table given below:

Nichols is generally used by experienced control engineers

based on the rules shown in the Table. But these rules are not
always valid. For example if an integrator exists in the plant,
then increasing

results in a more stable control.

7. Ziegler-Nichols rules
Controller
P
PI
PID

5. Hand-tuning rules
Operation

Rise
Time
Faster
Slower

Overshoot

Stability

Increases
Decreases

Decreases
Increases

Faster

Increases

Decreases

/8

The value of is found to be 1.67.

The value of the parameters Kp, KI and Kd based on Ziegler
Nichols tuning method:
Kp= 1.74, KI= 2.0963 , Kd= 0.363225

A simple hand-tuning procedure is as follows:

1. Remove derivative and integral actions by setting
and
.

The response obtained is:

2. Tune
such that it gives the desired response except the
final offset value from the set point.
3. Increase
4. Tune

slightly and adjust

to dampen the overshoot.

such that final offset is removed.

5. Repeat steps from 3 until

is as large as possible.

6. Simulink implementation:

Hand Tuning of the parameters is done to reduce the overshoot

to a tolerable range. The values of the parameters which
yielded the most suitable results are :
Here We first set
(i.e.
) and
(i.e.
) .Using the proportional control action only, increase
Kp from 0 to a critical value Ku , at which the output first
exhibits sustained oscillations . The value of Ku so obtained is
2.9 .

Kp= 1.9 , KI= 1.5 , Kd= 0.7

The response thus obtained is shown below:

The parameters thus obtained are:

668

8. Soft Tuning:
Soft Tuning of the parameters is done using a tool in
MATLAB /SIMULINK

The parameters obtained via iteration are as follows:

Kp= 0.3420 , KI= -0.0044 , Kd= 0.1027
The corresponding response thus obtained is shown below:

Here max-min type decomposition is used and the final output

for system is calculated by using center of area gravity method.
( ( ))
( ( ))
( ( ))
( ( ))]

9. Fuzzy Logic Controller:

Fuzzy logic is expressed by means of the human language
[3].Based on fuzzy logic, a fuzzy controller converts a
linguistic control strategy into an automatic control strategy,
and fuzzy rules are constructed by expert experience or
knowledge database.
First, set the error e(t) and the error variation de(t) of the
angular velocity to be the input variables of the fuzzy logic
controller. The control voltage u(t) is the output variable of the
fuzzy logic controller.
The linguistic variables are defined as {NB, NS, Z, PS, PB},
where NB means negative big, NS means negative small, Z
means zero, PS means positive small and PB means positive
big.
The fuzzy rules are summarized in Table 3. The type of fuzzy
inference engine is Mamdani. The fuzzy inference mechanism
in this study follows as:

Where;
( ( ))
( ( ))
( ( ))

()
()
()

j is an index of every membership function of fuzzy set, m is

the number of rules and is the inference result. Fuzzy output
u(t) can be calculated by the center of gravity defuzzification
as:

( ( ))
( )

( ( ))

669

7. L. A. Zadeh, Fuzzy sets, Information and Control, vol. 8,

pp. 338-353, 1965.

10.Results:
The results obtained from different tuning methods are shown
in the table given below.
Z-N tuning
Hand tuning
MATLAB SIMULINK
tuning
FLC

%Mp
70
50
2

Tr (sec)
2
1.5
1

Ts (sec)
15
10
0

ess
0
0
2

11. Conclusion:
In this paper the position of D.C. motor is controlled by four
methods of PID controlling techniques. The four methods used
are: Ziegler-Nichols tuning, hand tuning, soft tuning in built in
SIMULINK and Fuzzy logic controller. According to the
comparison of results of the simulations, it is found that the
Fuzzy Logic Controller is better than other methods. The Fuzzy
Logic Controller presents the following satisfactory
performance indices:
1. Overshoot: Overshoot may be reduced by using Fuzzy
Logic
Controller.
2. Rise Time: 1 sec , which is minimum as compare to other
methods.
3. Steady state error: 0
Hence it is concluded that the proposed Fuzzy Logic
Controller provides better performance characteristics and
improve the control of DC motor.

REFERENCES:
1. Zadeh, L. A., Fuzzy Sets. Information and Control, 8, 338353, 1965.
2. Ogata, K., Modern Control Engineering, 3rd edition, NJ:
Prentice Hall, 1997.
3. Foran J., 2002. Optimisation of a Fuzzy Logic Controller
Using Genetic Algorithms, Doctorat, Texas University of
America, USA.
4. Mathworks Inc., Simulink Response Optimization
Getting Started Guide, 3rd printing, 2008.
5. D. P. Kothari, I. J. Nagrath, Electric Machines, Tata
McGraw Hill Education Private Limited, ISBN-13: 978-0-07058377-1, ISBN-10: 0-07-058377-3, 2004.
6. J. G. Ziegler and N. B. Nichols, Optimum settings for
automatic controllers, Trans. ASME, vol. 64, pp. 759768,
1942.

670